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move_base takes longer time to update the Goal Status why ?

asked 2017-02-08 00:28:44 -0600

Aasiya Shaikh gravatar image


I am doing an experiments on Navigation Stack by referring the Link ( ) But While doing experiment I am facing one Issue.

I am using Rtabmap ( Localization ) + visual odometry + move_base ( with teb_local_planner ).

I am sending goal to the move_base by Cpp APIs, The myprogram.cpp( CPP code ) sends 5 goals to the robot one after the other but after reaching each goal the Robot waits for the GOAL STATUS for more than 2 minutes or it takes longer time than this .Please can you suggest me why the Status takes much longer time to update. Is their any parameter in move_base pkg or in the teb_local_planner which affect this ?

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have you checked parameters xy_goal_tolerance and yaw_goal_tolerance in the teb_local_planner?

croesmann gravatar image croesmann  ( 2017-02-08 02:19:23 -0600 )edit

Yes I have checked My Values are : xy_goal_tolerance = 0.02 yaw_goal_tolerance = 0.08 Do this parameter have any relation with status ?

Aasiya Shaikh gravatar image Aasiya Shaikh  ( 2017-02-08 03:26:16 -0600 )edit

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answered 2019-07-26 18:36:11 -0600

rittersb gravatar image

You may have already found a solution to this problem, but I am currently doing the exact same thing, and I was encountering the exact same problem. I was also using the teb_local_planner, but it really didn't make sense that the local planner could be causing the waits. In the end I decided it was something in move_base, so I put together a very simplistic version of move_base where I monitor the global planner, local planner, and costmaps. This may not be the best answer for this problem as move_base has some nice features that I am missing, but I don't have it wait anymore when it reaches the waypoints and I also didn't need some of the other features in move_base as well. If you need some examples, look at NavfnROS and TrajectoryPlannerROS. I only suggested these planners because they have some examples of how to set it up, but you don't have to use those exact planners. You can use the global_planner and the teb_local_planner in a very similar way or even write your own.

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Asked: 2017-02-08 00:28:44 -0600

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Last updated: Feb 08 '17